Sensor system for maritime vessels

ABSTRACT

The present disclosure provides a sensor system and method of operating the same. The sensor system includes a data collection mast including a base, a support member, a main member, a top plate, a first enclosure, a second enclosure, a first cantilever member, and a second cantilever member. The sensor system further includes a pair of stereoscopic cameras disposed on the main member extending through the second enclosure, a radar system disposed on the top plate, a compass disposed on the second cantilever member, a LIDAR unit disposed on the first cantilever member, and a control unit disposed on the main member within the first enclosure. Each of the pair of stereoscopic cameras, radar system, compass, and LIDAR unit are in electronic communication with the control unit, such that control unit receive the data collected from each sensor.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of PCT International App. No.PCT/US2019/046206, which has an International Filing Date of Aug. 12,2019, which designates the United States and which was published inEnglish on Apr. 16, 2020, which claims the benefit of U.S. patentapplication Ser. No. 16/536,899, filed Aug. 9, 2019, U.S. ProvisionalApp. No. 62/725,111, filed Aug. 30, 2018, and U.S. Provisional App. No.62/717,737, filed Aug. 10, 2018. U.S. patent application Ser. No.16/536,899 also claims the benefit of U.S. Provisional App. No.62/725,111 and U.S. Provisional App. No. 62/717,737. Each of theaforementioned applications is incorporated by reference herein in itsentirety, and each is hereby expressly made a part of thisspecification. Any and all priority claims identified in the App. DataSheet, or any correction thereto, are hereby incorporated by referenceunder 37 CFR 1.57.

FIELD OF THE DISCLOSURE

This disclosure relates to sensory systems and, more particularly, to asensor system for autonomous navigation of a maritime vessel.

BACKGROUND OF THE DISCLOSURE

Each year, recreational boating accidents cause hundreds of fatalitiesand thousands of injuries nationwide, according to U.S. Coast Guarddata. These are vessels are often big enough for a family to spendanywhere from a few days to a few weeks on the water, but are too smallto hire a crew, or even a junior captain. These circumstances require acaptain to keep constant vigil over the boat, raising the likelihood ofhuman error due to fatigue, distraction, or attention lapses.

Human error frequently leads to maritime accidents both at sea and nearports even with an experienced captain and crew. For example, when theCosta Concordia hit a rock near Tuscany, Italy, and dipped into theMediterranean in 2012, people around the world wondered how the captainof a cruise ship carrying 4,229 people could have made such a simple yetfatal miscalculation. Altogether, 32 passengers died. Early on 17 Jun.2017, the United States Navy destroyer USS Fitzgerald collided with MVACX Crystal, a Philippine-flagged container ship, about 10 nauticalmiles (19 km; 12 mi) southeast of the city of Shimoda on the Japanesemainland (Honshu). The accident killed seven Fitzgerald sailors.

Similar to airplanes, many vessels have an autopilot option. Thesesystems typically rely on GPS or similar satellite-based localizationsystems, a digital compass, and a digital nautical chart to navigate.Such systems have no way of detecting any vessels, debris or otherdynamic nautical features that are not marked on their nautical charts.In other words, they lack both the hardware and the software to build areal-time map of their surroundings. These systems also are reactive,meaning that they respond only after the boat senses a change in tide,wind, heading, or other conditions. This is similar to cruise control onan automobile. They do not predict the trajectory of other nauticalobjects in their vicinity and execute preemptive maneuvers to avoid acollision.

Predictive, rather than reactive, self-driving boat technology has beenused by militaries in the United States and abroad. The Pentagon hasrecently unveiled a self-driving 132-foot ship, the Sea Hunter, which isable to travel up to 10,000 nautical miles on its own, searching forunderwater mines and submarines. BAE Systems recently tested aself-driving boat technology that can be fitted to smaller RigidInflatable Boats. The Royal British Navy is already employing similartechnology. However, self-driving boat technology requires real-time,accurate data regarding the boat's position, orientation, andenvironment to generate safe and efficient navigation paths.

Accordingly, there is a long-felt need for a sensor system capable ofcollecting and processing real-time data for use in predictivenavigational systems for self-driving maritime vessels.

BRIEF SUMMARY OF THE DISCLOSURE

An embodiment of the present disclosure provides a sensor system,comprising: a data collection mast, a pair of stereoscopic cameras, aradar system, a compass, a LIDAR unit, and a control unit.

The data collection mast may comprise a base. The data collection mastmay further comprise a support member fixedly secured to the base anddefining an axial through bore therein. The data collection mast mayfurther comprise a main member having a first end fixedly secured withinthe through bore of the support member and a second end opposite thefirst end. The main member may further include a lower portion, anintermediate portion, and an upper portion sequentially located betweenthe first end and the second end. The data collection mast may furthercomprise a top plate fixedly secured to the second end of the mainmember.

The data collection mast may further comprise a first enclosure fixedlysecured to and surrounding the lower portion of the main member. Thedata collection mast may further comprise a second enclosure fixedlysecured to and surrounding the intermediate portion of the main member.

The data collection mast may further comprise a first cantilever memberhaving a first end and a second end, the first end fixedly secured tothe intermediate portion of the main member, and the second end locatedat a position radially beyond the second enclosure from the main member,such that the first cantilever member is perpendicular to the mainmember. The data collection mast may further comprise a secondcantilever member having a first end and a second end, the first endfixedly secured to the upper portion of the main member, and the secondend at a position radially outward from the main member and axiallyabove the top plate.

The pair of stereoscopic cameras may be disposed on the intermediateportion of the main member, wherein the second enclosure defines a pairof apertures, and the pair of stereoscopic cameras align with the pairof apertures. The radar system may be disposed on the top plate. Thecompass may be disposed on the second end of the second cantilevermember. The LIDAR unit may be disposed on the second end of the firstcantilever member. The control unit may be disposed on the lower portionof the main member and located within the first enclosure. The controlunit may be in electronic communication with the pair of stereoscopiccameras, the radar system, the compass, and the LIDAR unit.

The data collection mast may further comprise a third cantilever memberhaving a first end and a second end, the first end fixedly secured tothe upper portion of the main member, and the second end at a positionradially outward from the main member and axially above the first end ofthe third cantilever member, such that the third cantilever member hasan elbow shape. The sensor system may further comprise a thermal cameradisposed on the second end of the third cantilever member, and whereinthe thermal camera is in electronic communication with the control unit.

The data collection mast may further comprise a fourth cantilever memberhaving a first end and a second end, the first end fixedly secured tothe second cantilever member, and the second end at a position radiallybeyond the second cantilever member from the main member and axiallyabove the second end of the second cantilever member. The sensor systemmay further comprises an ultrasonic weather monitor disposed on thesecond end of the fourth cantilever member, and wherein the ultrasonicweather monitor is in electronic communication with the control unit.

The support member of the data collection mast may further includes oneor more gusset members. Each gusset member may have a first edge and asecond edge perpendicular to the first edge, wherein the first edge isfixedly secured to the base and the second edge is fixedly secured to aradial face of the support member.

The main member of the data collection mast may be hollow. Each of thecantilever members of the data collection mast may be hollow.

The sensor system may further comprise one or more additional cameras inelectronic communication with the control unit. The additional camerasmay be positioned at an angle relative to the pair of stereoscopiccameras. The angle relative to the pair of stereoscopic cameras may be30 degrees.

The control unit of the sensor system may comprise one or more of acomputer, a touchscreen monitor, and a mobile hotspot.

The sensor system may further comprise a mounting assembly. The mountingassembly may comprise a mounting member fixedly secured to the secondend of the first cantilever member and defining a hole therein. Themounting assembly may further comprise a motor fixedly secured to themounting member. The motor may be in electronic communication with thecontrol unit and configured to drive an axle. The axle may be positionedthrough the hole of the mounting member. The mounting assembly mayfurther comprise a carriage comprising a planar member and a flangemember perpendicular to the planar member. The flange member may befixedly secured to the axle such that the motor is configured to rotatethe carriage. The LIDAR unit may be fixedly secured to the planar memberof the carriage. The motor may be configured to rotate the carriageaccording to a cycle of 180 degrees in a first direction followed by 180degrees in a second and opposite direction.

An embodiment of the present disclosure provides a maritime vessel thatincludes one or more sensor systems. The maritime vessel may include twoof the sensors systems. The sensor systems may be electronicallyconnected via a single control unit. One of the sensor systems may bemounted to the bow of the maritime vessel and another of the sensorsystems may be mounted to the stern of the maritime vessel. The maritimevessel may be a speed boat or a cargo vessel.

An embodiment of the present disclosure provides a method for operatinga sensor system. The method comprises providing a data collection mast.

The data collection mast may comprise a base. The data collection mastmay further comprise a support member fixedly secured to the base anddefining an axial through bore therein.

The data collection mast may further comprise a main member having afirst end fixedly secured within the through bore of the support memberand a second end opposite the first end. The main member may furtherinclude a lower portion, an intermediate portion, and an upper portionsequentially located between the first end and the second end. The datacollection mast may further comprise a top plate fixedly secured to thesecond end of the main member.

The data collection mast may further comprise a first enclosure fixedlysecured to and surrounding the lower portion of the main member. Thedata collection mast may further comprise a second enclosure fixedlysecured to and surrounding the intermediate portion of the main member.

The data collection mast may further comprise a first cantilever memberhaving a first end and a second end, the first end fixedly secured tothe intermediate portion of the main member, and the second end locatedat a position radially beyond the second enclosure from the main member,such that the first cantilever member is perpendicular to the mainmember. The data collection mast may further comprise a secondcantilever member having a first end and a second end, the first endfixedly secured to the upper portion of the main member, and the secondend at a position radially outward from the main member and axiallyabove the top plate.

The method further comprises collecting environmental image data with apair of stereoscopic cameras disposed on the intermediate portion of themain member. The second enclosure may include a pair of apertures andthe pair of stereoscopic cameras, and the pair of stereoscopic camerasmay align with the pair of apertures. The method further comprisescollecting environmental radar data with a radar system disposed on thetop plate. The method further comprises collecting orientation data witha compass disposed on the second end of the second cantilever member.The method further comprises collecting 3-D image data from a LIDAR unitdisposed on the second end of the first cantilever member.

The method further comprises transmitting the environmental image data,the environmental radar data, the orientation data, and the 3-D imagedata to a control unit fixedly secured to the lower portion of the mainmember and located within the first enclosure. The control unit may bein electronic communication with the pair of stereoscopic cameras, theradar system, the compass, and the LIDAR unit.

The method may further comprise operating, via the control unit, amaritime vessel based on the environmental image data, the environmentalradar data, the orientation data, and the 3-D image data.

DESCRIPTION OF THE DRAWINGS

For a fuller understanding of the nature and objects of the disclosure,reference should be made to the following detailed description taken inconjunction with the accompanying drawings, in which:

FIGS. 1a-1g show an embodiment of the presently disclosed sensor system;

FIG. 2 shows an embodiment of a data collection mast of the presentlydisclosed sensor system;

FIGS. 3a and 3b show an embodiment of a mounting assembly of thepresently disclosed sensor system;

FIG. 4 is a diagram of LIDAR visualization.

FIG. 5 shows an embodiment of a first enclosure of the presentlydisclosed sensor system;

FIG. 6 shows an embodiment of the presently disclosed maritime vesselsensor system;

FIG. 7 shows a flow chart of the presently disclosed method foroperating a sensor system; and

FIG. 8 is a diagram of part of a system in accordance with the presentdisclosure.

DETAILED DESCRIPTION OF THE DISCLOSURE

Although claimed subject matter will be described in terms of certainembodiments, other embodiments, including embodiments that do notprovide all of the benefits and features set forth herein, are alsowithin the scope of this disclosure. Various structural, logical,process step, and electronic changes may be made without departing fromthe scope of the disclosure. Accordingly, the scope of the disclosure isdefined only by reference to the appended claims.

The present disclosure provides for a sensor system for use inautonomous vehicle navigation. Referring to FIG. 1, the sensor system1000 is configured such that it may be installed on a vehicle as part ofan autonomous navigation system. The vehicle may be a marine vessel suchas a ship or boat.

In an embodiment of the present disclosure, as shown in FIG. 2, thesensor system 1000 comprises a data collection mast 100. The datacollection mast 100 may comprise a base 10. The base 10 may be fixedlysecured to the deck of a marine vessel. For example, the base 10 may bewelded or bolted to the deck. In an embodiment of the presentdisclosure, the base 10 may have a square shape. Other shapes for thebase 10 are possible.

The data collection mast 100 may further comprise a support member 15.The support member 15 may be fixedly secured to the base 10. For examplethe support member 15 may be welded to the base 10. The support member15 may define an axial through bore 16 therein.

The support member 15 may comprise one or more gusset members 17. Thegusset members 17 may be circumferentially arranged around the supportmember 15. Each gusset member 17 may have a first edge 18 and a secondedge 19 perpendicular to the first edge 18. The first edge 18 may befixedly secured to the base 10. For example, the first edge 18 may bewelded to the base 10. The second edge 19 may be fixedly secured to aradial face of the support member 15. For example, the second edge 19may be welded to a radial face of the support member 15.

In an embodiment of the present disclosure, the support member 15comprises four gusset members 17 circumferentially arranged around thesupport member 15. Each gusset member 17 may have a triangular shape,though other shapes are possible. The first edge 18 of each gussetmember 17 may be directed toward a corner of the base 10. The supportmember 15 with gusset members 17 provides structural support for thedata collection mast 100 for securing to the base 10.

The data collection mast 100 may further comprise a main member 20. Themain member 20 may have a first end 21 disposed within the through bore16 of the support member 15. The main member 20 may have a second end 22opposite the first end 21. The main member may further include a lowerportion 20 a, an intermediate portion 20 b, and an upper portion 20 c.The lower portion 20 a, intermediate portion 20 b, and upper portion 20c may be sequentially located between the first end 21 and the secondend 22 of the main member 20.

In an embodiment of the present disclosure, the main member 20 ishollow.

The data collection mast 100 may further comprise a top plate 25. Thetop plate 25 may be fixedly secured to the second end 22 of the mainmember 20. For example, the top plate 25 may be welded to the second end22 of the main member 20.

The data collection mast 100 may further comprise a first enclosure 30.The first enclosure 30 may be fixedly secured to and surround the lowerportion 20 a of the main member 20.

In an embodiment of the present disclosure, the first enclosure 30 mayhave a cylindrical shape, though other shapes are possible. The firstenclosure 30 may comprise a pair of doors 31. The pair of doors 31 maybe rotatably connected by a hinge 32, and may be selectively secured bya latch 33. The hinge 32 may be on the front-facing side of the firstenclosure 30, while the latch 33 may be on the rear-facing side of thefirst enclosure 30. The pair of doors 31 may be rotated about the hinge32 in order to expose the contents of the data collection mast 100within the first enclosure 30. The pair of doors 31 may be secured viathe latch 33 in order to protect the contents of the data collectionmast 100 within the first enclosure 30.

The data collection mast 100 may further comprise a second enclosure 35.The second enclosure 35 may be fixedly secured to and surround theintermediate portion 20 b of the main member 20.

In an embodiment of the present disclosure, the second enclosure 35 mayhave a lower portion 36 with an irregular hexagonal prism shape and anupper portion 37 with a spherical cap shape. Other shapes are possible.The lower portion 36 of the second enclosure 35 may define a pair ofapertures 38 therein.

The data collection mast 100 may further comprise a first cantilevermember 40. The first cantilever member 40 may have a first end 41 and asecond end 42 opposite the first end 41. The first end 41 of the firstcantilever member 40 may be fixedly secured to the intermediate portion20 b of the main member 20. The second end 42 of the first cantilevermember 40 may be positioned radially beyond the second enclosure 35.

In an embodiment of the present disclosure, the first cantilever member40 may be perpendicular to the main member 20. The first cantilevermember 40 may protrude from the upper portion 37 of the second enclosure35.

The data collection mast 100 may further comprise a second cantilevermember 45. The second cantilever member 45 may have a first end 46 and asecond end 47 opposite the first end 46. The first end 46 of the secondcantilever member 45 may be fixedly secured to the upper portion 20 c ofthe main member 20. The second end 47 of the second cantilever member 45may be positioned radially outward from the main member 20 and axiallyabove the top plate 25.

In an embodiment of the present disclosure, the second cantilever member45 may be at a 45 degree angle with the main member 20 at the first end46, and parallel to the main member 20 at the second end 47. In thisembodiment, the second cantilever 45 member may have a j-shape. Othershapes are possible.

Referring to FIG. 1, the sensor system 1000 may further comprise a pairof stereoscopic cameras 200. The pair of stereoscopic cameras 200 may bedisposed on the intermediate portion 20 b of the main member 20. Thepair of stereoscopic cameras 200 may further align with the pair ofapertures 38 of the second enclosure 35. The pair of stereoscopiccameras 200 may be configured to collect environmental image data thatcan then be used to estimate depth or distance. The pair of stereoscopiccameras 200 may be positioned at a height on the data collection mast100 that prevents obstructing their view. For example, the pair ofstereoscopic cameras 200 may be positioned above any railings on thevessel.

The pair of stereoscopic cameras 200 may be tilt-adjusted to provideoptimal environmental image data from the horizon. The pair ofstereoscopic cameras 200 may be arranged at a distance of approximatelysix inches from each other, though other distances are possible.

In an embodiment of the present disclosure, the sensor system 1000 mayfurther comprise additional pairs of stereoscopic cameras 210. Theadditional pairs of stereoscopic cameras 210 may be positioned at anangle relative to the pair of stereoscopic cameras 200. For example, theadditional pairs of stereoscopic cameras 210 may be positioned at anangle beneath the horizon relative to the pair of stereoscopic cameras200. The additional pairs of stereoscopic cameras 210 may further bepositioned at an angle to the left or right of the pair of thestereoscopic cameras 200. For example, the additional pairs ofstereoscopic cameras 210 may be positioned at an angle relative to thepair of stereoscopic cameras 200 of 30 degrees, 45 degrees, or 90degrees.

The angles and configuration of the additional pairs of stereoscopiccameras 210 on the data collection mast 100 can vary from what isillustrated or described depending on the vessel or a particularapplication. Thus, the embodiments disclosed herein are exemplary.

The additional pairs of stereoscopic cameras 210 may be used to observeanomalies outside of the field of the view of the pair of stereoscopiccameras 200. Accordingly, the additional pairs of stereoscopic cameras210 provide a wider field of view for the environmental image data. Theadditional pairs of stereoscopic cameras 210 may be used to observe thehorizon or near objects.

The sensor system 1000 may further comprise a radar system 300. Theradar system 300 may be disposed on the top plate 25. The radar system300 may be at a position of unrestricted assessment of the immediatehorizon. The radar system 300 may be configured to collect environmentalradar data, including information regarding marine objects such asnavigation buoys, floating debris, and other marine vessels, as well asinformation regarding nearby shorelines in a 360 degree view around theradar system. The radar system 300 may be a frequency-modulatedcontinuous wave (“FMCW”) radar system. The radar system 300 may be a 3Gor 4G broadband radar system.

In an embodiment of the present disclosure, the radar system 300 may bea SIMRAD system. The radar system 300 may be 3G or 4G.

The radar system 300 can be configured to provide radar coverage both ata distance from the vessel and proximate to the vessel. For example, theradar system 300 may have a range 5 feet to 24 nautical miles.

The sensor system 1000 may further comprise a compass 400. The compass400 may be disposed on the second end 47 of the second cantilever member45. The compass 400 may be positioned above the radar system 300 toallow accurate positional and heading indications. The compass 400 maybe configured to collect orientation data. The compass 400 may be agyrocompass configured to collect orientation data according to therotation of the Earth. The compass 400 may also be a satellite compass.The satellite compass may be configured to collect orientation dataaccording to Global Positioning Satellite (“GPS”) information.

The sensor system 1000 may further comprise a LIDAR unit 500. The LIDARunit 500 may be disposed on the second end 42 of the first cantilevermember 40. For example, the LIDAR unit 500 may be a unit produced byVelodyne, Ouster, or other manufacturers. The LIDAR unit 500 may havebetween 16 and 128 beams. The beams of the LIDAR unit 500 may spin at arate of 300-2000 rpm. For example, the beams of the LIDAR unit 500 mayspin at a rate of 600 rpm. In an embodiment of the present disclosure,the LIDAR unit 500 is an Ouster OS1-64 LIDAR unit. The LIDAR unit 500may be configured to collect 3-D image data.

The sensor system 1000 may further comprise a control unit 600. Thecontrol unit 600 may be disposed on the lower portion 20 a of the mainmember 20 within the first enclosure 30. The control unit 600 may be inelectronic communication with the pair of stereoscopic cameras 200, theradar system 300, the compass 500, and the LIDAR unit 500. The controlunit 600 may also be in electronic communication with the additionalpairs of stereoscopic cameras 210.

The data collection mast 100 may further comprise a third cantilevermember 50, as shown in FIG. 2. The third cantilever member 50 may have afirst end 51 and a second end 52 opposite the first end 51. The firstend 51 of the third cantilever member 50 may be fixedly secured to theupper portion 20 c of the main member 20. The second end 52 of the thirdcantilever member 50 may be positioned radially outward from the mainmember 20 and axially above the first end 51 of the third cantilevermember 50.

In an embodiment of the present disclosure, the third cantilever member50 may be perpendicular to the main member 20 at the first end 51, andparallel to the main member 20 at the second end 52. The thirdcantilever member 50 may have an elbow shape.

The sensor system 1000 may further comprise a thermal camera 700, asshown in FIG. 1. The thermal camera 700 may be disposed on the secondend 52 of the third cantilever member 50. The thermal camera 700 may bean infrared camera or a bolometer. The thermal camera 700 may beconfigured to collect thermal image data. The thermal camera 700 may bein electronic communication with the control unit 600.

The data collection mast 100 may further comprise a fourth cantilevermember 55, as shown in FIG. 2. The fourth cantilever member 55 may havea first end 56 and a second end 57 opposite the first end 56. The firstend 56 of the fourth cantilever member 55 may be fixedly secured to thesecond cantilever member 45. The second end of the fourth cantilevermember 55 may be positioned radially beyond the second cantilever member45 and axially above the second end 47 of the second cantilever member45.

In an embodiment of the present disclosure, the fourth cantilever member55 may be at a 45 degree angle with the second cantilever member 45 atthe first end 56, and parallel to the second cantilever member 45 at thesecond end 57. The fourth cantilever member 55 may have a j-shape.

The sensor system 1000 may further comprise an ultrasonic weathermonitor 800, as shown in FIG. 1. The ultrasonic weather monitor 800 maybe disposed on the second end 57 of the fourth cantilever member 55. Theultrasonic weather monitor 800 may be configured to collect weather dataincluding wind speed and direction, barometric pressure, airtemperature, and wind chill temperature. The ultrasonic weather monitor800 may be in electronic communication with the control unit 600.

In an embodiment of the present disclosure, each of the first cantilevermember 40, second cantilever member 45, third cantilever member 50, andfourth cantilever member 55 are hollow. In communication with the hollowmain member 20, the wiring for each of the pair of stereoscopic cameras200, radar 300, compass 400, LIDAR unit 500, thermal camera 700, andultrasonic weather monitor 800 can be routed internally to the controlunit 600.

In an embodiment of the present disclosure, the various components ofthe sensor system 1000 may be waterproof and/or resistant to theelements. For example, the sensor system 1000 may be constructed ofsteel. The sensor system 1000 may include polycarbonate or acryliccomponents to prevent frost. The sensor system 1000 may be constructedof steel or aluminum. The sensor system 1000 may be coated in zinc whitelayer paint (to prevent corrosion), and/or a special hydrophobic spraycoat for waterproofing. Additionally, quartz radiant infrared heatersmay be added for defrosting and ice formation prevention.

Referring to FIGS. 3a and 3b , the sensor system may further comprise amounting assembly 900. The mounting assembly 900 may comprise a mountingmember 910. The mounting member 910 may be fixedly secured to the secondend 42 of the first cantilever member 40. The mounting member 910 maydefine a hole 911 therein. The hole 911 may be centrally positioned inthe mounting member 910.

The mounting assembly 900 may further comprise a motor 915. The motor915 may be fixedly secured to the mounting member 910. The motor 915 maybe in electronic communication with the control unit 600. The motor 915may be configured to drive an axle 920. The axle 920 may be positionedto extend through the hole 911 of the mounting member 910.

In an embodiment of the present disclosure, the motor 915 may beenclosed by a housing 916. The housing 916 may be fixedly secured to themounting member 910. The mounting member 910 may be fixedly secured tothe second end 42 of the first cantilever member 40. Accordingly, thehousing 916 may be positioned below the second end 42 of the firstcantilever member 40.

The mounting assembly 900 may further comprise a carriage 925. Thecarriage 925 may comprise a planar member 926 and a flange member 927perpendicular to the planar member 926. The flange member may be fixedlysecured to the planar member 926 and to the axle 920. The LIDAR unit 500may be disposed on the planar member 926. The motor 915 may beconfigured to rotate the carriage 925 and the LIDAR unit 500 disposedthereon.

In an embodiment of the present disclosure, the motor 915 may beconfigured to rotate the carriage 925 according to a cycle comprisingrotation in a first direction followed by rotation in a second, reversedirection. For example, the cycle may comprise rotation of 180 degreesin a first direction, followed by rotation of 180 degrees in a second,reverse direction. With the cycle of rotation of the present disclosure,twisting of wires connected to the LIDAR unit 500 is reduced, improvingthe durability of the sensor system 1000. The motor 915 may beconfigured to rotate the carriage 925 at a rate of 12-60 rpm. Forexample, the motor 915 may be configured to rotate the carriage 925 at arate of 20 rpm.

With the rotation of the LIDAR unit 500 provided by the presentdisclosure, 3-D image data can be collected from all directions with asingle LIDAR unit 500. For example, the angle of the motor 915 can betracked and synchronized with image data collected from the LIDAR unit500 to generate 3-D image data. Three or four stationary LIDAR unitswould be needed to achieve the same field of view for the 3-D image datacollected by the rotating LIDAR unit 500. This enables the sensor system1000 to create a 3-D map of the vessel's surroundings.

FIG. 4 is a diagram of LIDAR visualization. LIDAR can be used to providevisualization during close distance maneuvers like while docking orpassing other ships in rivers. LIDAR installation transcends Point Cloudvisualization application and assists with self-navigation.

The sensor system 1000 may further include a GPS unit in communicationwith the control unit 600. The GPS unit may be configured to collectorientation and navigation data.

The sensor system 1000 may further include an automatic identificationsystem (“AIS”), such as a Class B AIS. Class B means that the systemdoes not include a transmitter, whereas Class A includes a transmitterand transceiver. The AIS can provide information about the location ofthe vessel.

The sensor system 1000 may further include a depth finder. The depthfinder may be included on the vessel, in which case the sensor system1000 can be in electronic communication with the vessel's depth finderor a controller on the vessel with access to data from the vessel'sdepth finder. In another instance, nautical charts can be used toprovide depth information, and the sensor system can access a library ordatabase of nautical charts.

Other inputs may be provided to the control unit 600. For example, thecontrol unit 600 may receive communications or alerts about maritimetraffic, weather, or safety issues. The sensor system 1000 may provideaudio alerts based on communications received by the control unit 600from the various sensors or other sources.

The control unit 600 may be configured to retrieve data collected by theaforementioned sensors and devices, and further process the collecteddata to, for example, generate a navigation path. The control unit 600may include computer. The control unit 600 also may be in electroniccommunication with or include touchscreen monitor. The control unit 600may include a mobile hotspot configured to provide the control unit 600with Internet access. The mobile hotspot may be, for example, a JETPACK®4G Mobile Hotspot in the form of a dongle. The control unit 600 mayprocess the collected data using artificial intelligence systems. Forexample, the control unit 600 may be in electronic communication with anobject detection network, which may include a convolutional neuralnetwork (CNN).

All the sensors can be connected to the control unit 600, where thesensor outputs can be combined into a single monitor or output. Thus,the data packets can be synthesized together. CANBUS can be converted toa USB stream or an Ethernet packet to image the stream. Individualsensor frequencies can be controlled by the control unit 600. Thecontrol unit 600 and the sensors can use a single power supply ormultiple power supplies. Each of the sensors may be connected to thecontrol unit 600 via wireless communication. Wired communication may beprovided between each sensor and the control unit 600 as backup. Forexample, all the sensors may be connected to a switch of the controlunit 600 via CAT6 Ethernet cables. The switch may be connected to acomputer via CAT6 Ethernet cables of Fiber Optic cables.

The control unit 600 may be arranged within the first enclosure 30. Thefirst enclosure 30 may be configured to protect the control unit 600 andother enclosed devices from the outside environment. The first enclosure30 may also be configured to supply the control unit 600 and otherenclosed devices with power. Backup power may be provided for eachsensor unit from the pilot house. The sensors may be powered through asmart power supply, through which the power consumption of each sensormay be monitored and managed. The smart power supply may be connected toan uninterruptible power supply (UPS) in order to provide constant powerto the sensor system 1000. For example, the UPS may be a 1500 W marinepower supply that is agnostic to grounding errors.

An embodiment of a first enclosure 30 is shown in FIG. 5. The firstenclosure 30 may include one or more draw latches 301 to open and closethe first enclosure 30. The first enclosure 30 may include a mobilehotspot 302 for providing Internet access, such as a JETPACK® 4G MobileHotspot dongle. The first enclosure 30 may include a hard drive 303 ofsufficient capacity to store sensor data, such as 20 terabytes. Thefirst enclosure 30 may include one or more computer network switches 304and 305, such as NVT PHYBRIDGE FLEX8™ or FLEX24™. The first enclosure 30may include a DC power supply 306 to supply power the componentstherein. The first enclosure 30 may include a computer 307, such as anINTEL® NUC 8 Mini PC Kit. The first enclosure 30 may include a filterfan 308. The first enclosure 30 may include an Actisense sensor 309,which can convert data packets to, for example, plain English. The firstenclosure 30 may include a computer network router 310. The firstenclosure 30 may include a thermostat 311 for monitoring interiortemperature. The first enclosure 30 may include a heater 312, to preventfreezing of the components therein. The first enclosure 30 may include amultiport power outlet 313, for example a 12-port power outlet. Thefirst enclosure 30 may include an access panel 314. The first enclosure30 may also include a NMEA bridge and wireless adapter.

In another aspect of the present disclosure, and with reference to FIG.6, a maritime vessel sensor system 2000 is presented. The maritimevessel sensor system 2000 includes a maritime vessel 2010 and a firstsensor subsystem 2020. The first sensor subsystem 2020 may be identicalto the sensor system 1000, and is thus not elaborated herein.

The maritime vessel sensor system 2000 may further include a secondsensor subsystem 2030. The second sensor subsystem 2030 may be identicalto the sensor system 1000, and is thus not elaborated herein. The secondsensor subsystem 2030 may be the same as or different from the firstsensor subsystem 2020. For example, the number of and arrangement ofsensors on the second sensor subsystem 2030 may be different than thatof the first sensor subsystem 2020. A third, fourth, fifth, or largernumber of sensor subsystems also can be included in the maritime vesselsensor system 2000.

In an embodiment of the present disclosure, the first sensor subsystem2020 may be mounted to the bow 2011 of the maritime vessel 2010. Thesecond sensor subsystem 2030 may be mounted to the stern 2012 of themaritime vessel 2010. The first and second sensor subsystems 2020, 2030may also be mounted in any other appropriate areas of the maritimevessel 2010. The various sensors of the first and second sensorsubsystems 2020, 2030 may be synchronized or precise measurement. Forexample, the data collected by each radar, compass, etc. may be averagedfor better precision. Robot Operating System (ROS) virtual timesynchronization may be used to synchronize sensors that use ROS. GeneralNetwork Time Protocol (NTP) may be used to synchronize non-ROS sensors.

The various sensors of the first and second sensor subsystems 2020, 2030may be configured to prevent dead zones and interference. For exampleeach LIDAR unit may be on a separate channel. By keeping the datacollected by the various sensors on their own subnetworks, networkflooding may be avoided.

The first and second sensor subsystems 2020, 2030 can be placed on themaritime vessel 2010 so that their respective field of view is notblocked. Thus, the first and second sensor subsystems 2020, 2030 may beplaced proximate a gunwale 2013. The first and second sensor subsystems2020, 2030 also may be positioned to avoid blocking a view from thepilot's house 2014 or a crow's nest.

In the first and second sensor subsystems 2020, 2030, an anemometer isplaced on top to catch the wind, but not in a manner that blocks thefront of the radar system 300. For example, the anemometer may bemounted behind the compass 400.

The maritime vessel 2010 may be, for example, a speed boat, a cargovessel, a personal recreational boat, a catamaran, a ski boat, or ayacht. The maritime vessel 2010 may also be any other type of vessel onwhich mounting a sensor subsystem would be practical and/or desired.

The design of each sensor subsystem 2020, 2030 can be changed dependingon the type of maritime vessel 2010. These changes can include thedifferences in the mounting assembly 900, number of additionalstereoscopic cameras 210, inclination of the cameras 200, 210, or otherfeatures. The number of additional stereoscopic cameras 210 andinclination of the cameras 200, 210 can change depending on the size ofthe vessel and the vessel's height. The cameras 200, 210 may bepositioned to provide the best field of view. Furthermore, smallervessels may only need a single sensor subsystem 2020.

While disclosed specifically with maritime vessels, the embodimentsdisclosed herein can be applied to other vehicles such as automobiles,trucks, buses, trains or other vehicles.

In another aspect of the present disclosure, and with reference to FIG.7, a method 3000 for operating a sensor system is disclosed. The method3000 for operating a sensor system includes providing 3100 a datacollection mast. The data collection mast provided may be according tothe data collection mast 100 described above, and is thus not elaboratedherein.

The method 3000 further includes collecting 3200 environmental imagedata with a pair of stereoscopic cameras disposed on the data collectionmast; collecting 3300 environmental radar data with a radar systemdisposed on the data collection mast; collecting 3400 orientation datawith a compass disposed on the data collection mast; and collecting 35003-D image data from a

LIDAR unit disposed on the data collection mast.

The pair of stereoscopic cameras, radar system, compass, and LIDAR unitare provided according to their description as part of the sensor system1000 herein, and are thus not elaborated herein

The method 3000 further includes transmitting 3600 the environmentalimage data, environmental radar data, orientation data, and 3-D imagedata to a control unit. The control unit is provided according to thedescription as part of the sensor system 1000 herein, and is thus notelaborated herein.

The method 3000 for operating a sensor system may further includecollecting additional environmental image data with one or moreadditional cameras, wherein the additional cameras in communication withthe control unit; and transmitting the additional environmental imagedata to the control unit.

The method 3000 for operating a sensor system may further includecollecting positioning data with a GPS unit, wherein the GPS unit is incommunication with the control unit; and transmitting the positioningdata to the control unit.

The method 3000 for operating a sensor system may further includecollecting weather data with an ultrasonic weather monitor, wherein theultrasonic weather monitor is in communication with the control unit;and transmitting the positioning data to the control unit.

The method 3000 may further include operating 3700, via the controlunit, a maritime vessel based on the environmental image data, theenvironmental radar data, the orientation data, and the 3-D image data.

The control unit can control the maritime vessel it is associated with.For example, the control unit can send instructions to the maritimevessel to change speed or heading. For example, the control unit caninclude or be in electronic communication with one or more actuators,encoders, and/or controllers, which may alter the rudder direction ormotor speed based on data received by the control unit from the varioussensors.

Controlling the maritime vessel with the control unit can use encodersor direct connection to the vessel's autopilot. The sensors can output aquadrature signal, and an encoder can count up or down to make a numericvalue of what the control should be. Power drops along wire connectionscan be compensated for with voltage regulators.

In an instance, the control unit reads angle of controls and outputs abuffered I.sup.2C signal using high voltage, low current power to allowfor relatively long-distance communications and powering. The system canfunction at a relatively wide range of distances.

FIG. 8 is a diagram of part of a system. Optical sensors can becalibrated to function at distances from 2.5-50.0 mm. The closer, thehigher the precision (i.e., more lines per inch on code strip). Theoptical sensors can be calibrated to work with various reflectivematerials and can provide a digital output. Digital signals inquadrature can be produced.

A bi-directional counter can be included, which can include two 4-bitup/down counters daisy-chained together. This can use quadrature signalsto count and determine direction. For example, a rising edge of “CLOCKUP” while “CLOCK DOWN” is high counts up 1. In another example, a risingedge of “CLOCK DOWN” while “CLOCK UP” is high counts down 1.

A parallel-I.sup.2C interface can be included. This may include a 16-bitI/O extender. Addresses can be set via switches/jumpers to allow up to64 devices to be connected to the same network. The system can convertthe 8 bits from the counters to I.sup.2C. Remaining 8 bits can be usedfor calibration of sensors, resetting of the clocks, etc. The sensorsrequire one bit each to calibrate, the counters require one bit to resetoutputs to zero, and the counters require one bit to set outputs tomirror input. The counters could be set using 4 bits by connecting theoutput bits of the first counter to the input bits of the second counterand performing the reset in two stages.

The I.sup.2C buffer can takes 3.3-5.0 V I.sup.2C signal and buffers itwhile shifting level to 12-15 V. This can increase the amount of wirecapacitance permitted and can increase the amount of noise permitted.This also can enable over 100 m of cable to be used.

For power, a 12-15 V input may be used. This can be used to driveI.sup.2C buffer. A 3.3-5.0 V switching regulator can drop the voltageinternally, which results in lower current draw through the cables andallows longer cables to be used. This can power all components besidesthe buffer.

Output images can be obtained from the radar system or systems disclosedherein. The connection with radar can be established by joiningdifferent multicast socket groups hosted by the radar. Radar can then beturned on/off by sending specific datagrams to appropriate socketgroups. The lowrance radar may be designed to be turned off after 10[K1]seconds once it is turned off. Hence a thread may be spawned to send“stay awake” datagram packets repeatedly to above multicast group.

OpenCPN Radar Pi Java code can be used to capture network traffic fromradar and convert them into images (radar's output) to be shown on GUI.

Live stream of radar images can be performed. The output images of radarcan be converted into a live mpeg video stream using python flasklibrary. The video stream can then be integrated into Milestone xProtectVMS as a Universal Driver Channel where it can be seen live andrecorded.

For video processing, Milestone xProtect VMS can store camera feedinternally as blk files, which are not readable by some machine learningalgorithms. It also has increased frame rate which makes them playfaster than normal. Shell scripts using ffmpeg can be used to convertthem into mp4 format and bring the frame rate and playback speed back tonormal or as recorded.

Although the present disclosure has been described with respect to oneor more particular embodiments, it will be understood that otherembodiments of the present disclosure may be made without departing fromthe scope of the present disclosure. Hence, the present disclosure isdeemed limited only by the appended claims and the reasonableinterpretation thereof.

What is claimed is:
 1. A system for generating a three dimensional mapof an area proximate a maritime vessel, the system comprising: a mastconfigured to secure a camera, a compass, a radar system, said mastconfigured to be secure to a maritime vessel; a cantilever memberincluding a first end and a second end opposite the first end andextending away from the mast; and a LIDAR mount coupled to the secondend of the cantilever member, said LIDAR mount configured to secure aLIDAR unit, said LIDAR mount comprising a motor configured to rotate theLIDAR unit about the cantilever member.
 2. The system of claim 1,wherein the rotation of the LIDAR unit about the cantilever comprisesrotating the LIDAR unit along a first plane perpendicular to thecantilever member, wherein an in-built rotation of the LIDAR unit is ina second plane parallel to the cantilever member.
 3. The system of claim1, wherein the motor is configured to rotate the LIDAR unit at a ratethat correlates with an internal rate of the LIDAR unit such that themotor moves a full measurement unit after the LIDAR unit's internalscanner has completed a full rotation.
 4. The system of claim 1, whereinthe motor is configured to rotate according to a cycle comprising afirst rotation in a first direction followed by a second rotation in asecond direction opposite the first direction.
 5. The system of claim 4,the first rotation in the first direction comprises rotating by 180degrees.
 6. The system of claim 4, the second rotation in the seconddirection comprises rotating by 180 degrees.
 7. The system of claim 1,wherein the motor is configured to rotate continuously clockwise orcounter-clockwise about the cantilever member.
 8. The system of claim 1,wherein the LIDAR mount comprises a planar member configured to receivethe LIDAR unit.
 9. The system of claim 1, wherein a housing comprisingthe motor is positioned below the second end of the cantilever member.10. The system of claim 1, wherein the second end of the cantilevermember is positioned radially beyond a structure configured to mount thecamera.
 11. The system of claim 1, wherein the LIDAR unit is astationary LIDAR unit and the rotation of the LIDAR unit about thecantilevered member is configured to generate a three dimensional imagedata from the stationary LIDAR unit.
 12. The system of claim 1, whereinrotational data of the motor is tracked and synchronized with image datacollected from the LIDAR unit.
 13. The system of claim 1, wherein themotor is configured to rotate the LIDAR unit in a first directionperpendicular to a second direction corresponding to a spin of beams ofthe LIDAR unit.
 14. The system of claim 13, wherein the motor isconfigured to rotate the LIDAR unit in separate directional cycles toreduce twisting of wires.
 15. A system for generating a threedimensional map of an area proximate a maritime vessel, the systemcomprising: a mast; and a LIDAR mount coupled to the mast, said LIDARmount configured to secure a LIDAR unit, said LIDAR mount comprising amotor configured to rotate the LIDAR unit, wherein the motor isconfigured to rotate the LIDAR unit in a first direction perpendicularto a second direction corresponding to a spin of beams of the LIDARunit.
 16. The system of claim 15, wherein the motor is configured torotate the LIDAR unit in separate directional cycles to reduce twistingof wires.
 17. The system of claim 15, wherein the LIDAR unit is astationary LIDAR unit and the rotation of the LIDAR unit about thecantilevered member is configured to generate a three dimensional imagedata from the stationary LIDAR unit.
 18. The system of claim 15, whereinthe motor is configured to rotate the LIDAR unit in a first directionperpendicular to a second direction corresponding to a spin of beams ofthe LIDAR unit.
 19. The system of claim 15, wherein the LIDAR mount ispositioned at a first distance away from the mast, said first distanceconfigured to provide clearance from a structure supporting a camera.